A New Powered Lower Limb Prosthesis Control Framework Based on Adaptive Dynamic Programming

• Published in: IEEE transaction on neural networks and learning systems Vol. 28; no. 9; pp. 2215 - 2220
• Main Authors: Yue Wen, Jennie Si, Xiang Gao, Huang, Stephanie, He Helen Huang
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.09.2017; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptability; Adaptation models; Adaptive control; adaptive dynamic programming (ADP); Algorithms; Computer simulation; Control algorithms; Dynamic programming; Feasibility studies; Gait; Heuristic algorithms; Impedance; Joints (anatomy); Knee; Legged locomotion; Medical devices; Medical electronics; Medical equipment; optimal control; Prostheses; Prosthetics; Robot control; Walking

This brief presents a novel application of adaptive dynamic programming (ADP) for optimal adaptive control of powered lower limb prostheses, a type of wearable robots to assist the motor function of the limb amputees. Current control of these robotic devices typically relies on finite state impedanc...